Animatronic supported walking system

ABSTRACT

In one aspect, a supported walking system is disclosed, comprising a robotic walking figure and a wheeled support that at least partially supports the robotic walking figure. The supported walking system may be driven and controlled by a human operator. Computer algorithms automatically control the robot&#39;s walking functions so that it may step forwards, backwards, and sideways in synchronicity with the movements of the cart while driving and turning at varying speeds.

RELATED APPLICATIONS

[0001] This application claims priority from U.S. Provisional PatentApplication No. 60/440,291, filed Jan. 14, 2003, which is herebyincorporated by reference in its entirety.

BACKGROUND

[0002] I. Field

[0003] An animatronic supported walking system and method is generallydisclosed.

[0004] II. General Background

[0005] Animatronic figures are those which employ electronics or othermechanical, hydraulic, and pneumatic parts to animate puppets.Animatronic characters are popular in entertainment venues such as themeparks. For example, animatronic characters are often employed in showsor rides found in a theme park. However, the animatronic characters aregenerally in a fixed position. The animatronic character's head or armsmay move, but the character is generally not capable of freely roamingor walking from one place to another.

SUMMARY

[0006] It is therefore desirable for such characters to walk freely andindependently through a theme park, parade or other venue and interactwith people and/or things. Furthermore, it is desirable for such ananimatronic character to appear quite realistic. However, there areseveral specific problems to be solved when developing such ananimatronic walking figure.

[0007] First, real animals can and do fall over. However, in a publicvenue such as a theme park where safety to each guest, including smallchildren, must be ensured, an animatronic figure must not fall over. Itis therefore an object to create a walking robot which looks like ananimal, but which cannot fall over and injure guests.

[0008] Complex robotic systems also require electronics and computers tofunction. A mobile system also requires a power supply (battery, engine,etc). It is difficult to place these systems inside the skin, (onboard)the actual robotic figure. If these are placed outside the figure, wemust find a way to hide these components while maintaining the illusionthat the figure is a real animal. For example, electrical cords cannotbe seen exiting the figure.

[0009] Ideally, a single operator should command the animatronic figureto move forwards, backwards, and to turn left and right. A robot thatlooks like an animal might have over 40 individual motors. This is toomany for a single operator to simultaneously control. A method orcomputer algorithm must therefore be created which translates thesesimple commands into individual joint trajectories that allow the systemto walk.

[0010] Furthermore, the mechanical understructure of such animatronicfigures is necessarily robotic. That is, they are made of joints, gears,actuators, hoses, electrical wiring, and metallic, plastic, or compositestructural elements. To make these systems appear lifelike, they must besomehow covered, either by clothing, or by an artificial skin, whetherit be smooth, or covered with fur, feathers or scales.

[0011] A supported walking system is thereby disclosed, comprising arobotic walking figure and a wheeled support that at least partiallysupports the robotic walking figure. The supported walking system isdriven and controlled by a human operator.

[0012] In one embodiment, the walking figure is designed to look like adinosaur, and the wheeled support is themed to look like an oldfashioned wooden cart. The result creates the illusion that the dinosauris pulling the cart, rickshaw style, when in fact the cart partiallysupports the walking machine and houses a human driver, computers,electronics, and batteries.

[0013] In one embodiment, the skin of the walking figure is supported bya unique skeletal support system comprising fiberglass, plastic andaluminum rings that are attached to each other and to the walkingmachine skeleton via a combination of rigid attachments and flexiblerubber attachments. The effect is a realistic-looking skin that floatsover the mechanical skeleton giving the appearance of a living animal.

[0014] Very few two-legged, freely walking robots have been created atall, and all of these may be tipped over. By attaching a robotic figureto a mobile cart, a number of issues associated with creating a largewalking figure are addressed.

[0015] In one embodiment, the walking figure is further attached to cartvia a “yoke”. By attaching the walking figure to a cart via a “yoke”,the robot is partially supported, and prevented from falling, ensuringthe safety of people around it.

[0016] Furthermore, because the walking figure contains many individualactuators, the electronics, computers, and power source are too large toplace inside the walking robot. The cart provides a convenient locationfor these components. They are connected to the walking robot by wiringthat is hidden inside the yoke.

[0017] In an exemplary embodiment, the cart has two driven wheels and aswiveling caster. This allows the cart to drive its own weight andprovides a stable base to support the walking robot. This configurationalso allows a human operator to drive the cart using a simple joystick,to move forwards, backwards, to steer, and to turn in place.

[0018] Computer algorithms automatically control the robot's walkingfunctions so that it may step forwards, backwards, and sideways insynchronicity with the movements of the cart while driving and turningat varying speeds.

[0019] The attached descriptions of exemplary and anticipatedembodiments of the invention have been presented for the purposes ofillustration and description. They are not intended to be exhaustive orto limit the invention to the precise forms disclosed. Manymodifications and variations are possible in light of the teachingsherein.

DRAWINGS

[0020]FIG. 1 is a sketch of an exemplary embodiment of a supportedwalking system.

[0021]FIG. 2 is a kinematic drawing of the supported walking system.

[0022]FIGS. 3a and 3 b are CAD drawings of the supported walking figurewithout any theming elements.

[0023]FIG. 4 is a photograph illustrating an exemplary embodiment of theskeletal support structure.

[0024]FIG. 5 is a CAD drawing illustrating the rings which form theskeletal support structure.

[0025]FIG. 6 is a close-up view illustrating an exemplary embodiment ofthe skeletal support structure.

[0026]FIG. 7 is a CAD drawing of the skeletal support structure.

[0027]FIG. 8 is a sketch of the skeletal support structure.

[0028]FIGS. 9a, 9 b and 9 c are CAD drawings of an exemplary embodimentof a compact robotic joint.

[0029]FIG. 10 shows how an articulated structure may be created bylinking a series of exemplary joints together

DETAILED DESCRIPTION

[0030] In one aspect, a supported walking system is disclosed,comprising a robotic walking figure and a wheeled support that at leastpartially supports the robotic walking figure. The supported walkingsystem may be driven and controlled by a human operator. It should benoted that the walking figure need not resemble any shape presentlyknown or recognizable. It may be entirely fanciful or utilitarian,depending on the effect desired, or the use intended for the system.Even though the embodiment depicted is a dinosaur that may be presentedin a theme park, the inventors in no way intend this to be a limitation.

[0031]FIG. 1 is a skeleton of an exemplary embodiment of the supportedwalking system. In one embodiment, the walking figure (100) is designedto look like a dinosaur, and the wheeled support (110) is themed to looklike an old fashioned wooden cart. The dinosaur (100) is attached to thecart with a yoke (120). The resulting vehicle is designed to create theillusion that the dinosaur (100) is pulling the cart (110), rickshawstyle, when in fact the cart partially supports the walking machine andalso houses a human driver, computers, electronics, and batteries.

[0032] Supported Walking Figure—Kinematics

[0033] The following is a brief kinematic description of one embodimentof a supported walking system. In such an embodiment, the supportedwalking system comprises of a two-legged walking machine which ispartially supported by a three-wheeled cart.

[0034]FIG. 2 is a kinematic diagram of one embodiment of a supportedwalking system. The wheeled cart is shown as a square frame (201). Afirst wheel (202) and a second wheel (203) are mounted on each side tothe side of the cart and rotate about axis A. The first wheel (202) andsecond wheel (203) are powered. A third wheel (205) is mounted to thefront of the cart. The third wheel (205) can roll and rotate freelyabout a vertical axis to allow movement in any direction. A rigid yoke(204 a-c) is attached to the cart so that the yoke and the walkingfigure can pivot freely about axis A. The yoke consists of two sidebeams (204 a and 204 b), and a curved member (204 c) which fits aroundthe walking machine. A clevis (204 d) is fixed rigidly to the curvedmember. To this clevis is attached a link (205) which freely pivotsrelative to the yoke about horizontal axis B. The body of the walkingmachine (206) also has a clevis (206 a) attached to it which pivotsfreely about link (205) through axis C. In one embodiment, axes B and Care perpendicular to each other. In this way, the body has two degreesof freedom relative to the yoke. Rigidly attached to the body are twoadditional clevises, (206 b) and (206 c). To these devises are attachedthe right and left legs of the walking machine, respectively.

[0035] Considering the right leg, link (207) is attached to the bodythrough clevis (206 b) and is free to pivot about axis D. In a currentembodiment, this joint is powered. Link (208) is then attached to link(207) so that it is free to pivot about axis E. This joint is alsopowered. Axis D and E are perpendicular to each other. Link (209) isattached via a pivot to link (208) so that it may pivot about axis F,which is perpendicular to axes D and E. This joint is powered. Link(210) is attached to link (209) such that it may pivot about axis G.This joint is powered. Link (211) is attached to link (210) such that itmay pivot about axis H. In the current embodiment, this link isconstrained via a parallelogram linkage (not shown) such that itsorientation relative to link (209) is fixed. Links (212) and (213) areattached to link (211) such that they may pivot independently about Iand J respectively. These joints are also powered. The left leg is amirror image of the right leg.

[0036] The following is a more detailed description of the mechanics inone embodiment of the supported walking system.

[0037]FIGS. 3a and 3 b show illustrations of an exemplary embodiment ofa supported walking system.

[0038] In one aspect, a two-legged, robotic machine, (100) is attachedvia a yoke (308) to a wheeled cart (110). As shown in FIGS. 3a and 3 b,the supported walking machine consists of two legs (307), connected to abody (306). To this body are also attached a neck (305), and a tail(303). The body of the walking machine consists of a rigid tube. Eachleg is a mechanism comprised of six computer-controlled electric motorsthat operate a series of links, and joints that allow the leg toarbitrarily position its foot at any position and orientation relativeto the body, within a constrained volume. (Note that only one leg isshown in the figures). The neck (305) is a mechanism comprised of sevencomputer-controlled electric motors operating a series of links andjoints. The neck supports a head (321), which itself contains a numberof additional motors. These motors operate for example, the eyes,eyelids, mouth, and other facial features. Finally, a tail mechanism isattached to the rear end of the body tube (303). Similar in design tothe neck, the tail is comprised of six electric motors that operate aseries of links and joints.

[0039] The cart consists of a steel frame (311), to which two drivewheels (312) and a swiveling caster (310) are mounted. (Note that onlyone driven wheel is shown in the figures). The drive wheels are eachpowered by an electric motor and a belt reduction mechanism (322). Thecart also houses electronics mounted in enclosures (317), a battery packpower source (313), a joystick (316), and a puppeting interface (315). Ahuman operator sits in a seat (314) and uses the joystick to drive thecart, and the puppeting interface to control the movements of thewalking machine's body, neck and head. Even though circular wheels aredescribed herein, they could actually be other shapes (e.g. ovals) toprovide desired effects, and could be tracked systems as well. The word“wheel” is to be understood in this way.

[0040] As the operator drives the cart, all of functions of the walkingmachine are controlled automatically by a series of computer algorithmsto move synchronously with the cart. For example, these algorithmscalculate when and where each foot must step, the speed and trajectoryof each step and the body, neck, head and tail motions that accompanythe stepping motions to create realistic-looking walking. The operatormay override some of these automatically created motions, particularlythose of the head and neck, by using the puppeting interface duringwalking. Depending on the use intended for the system, one or morefunctional arms or other appendages may be included, these arms havingfunctions such as holding, pushing, lifting, etc. The tail and headcould be eliminated or replaced with other structures. To facilitateoperation of the system, the walking mechanism is equipped with cameras(319) and microphones (320) mounted in the head. The operator has amonitor (318) to view the video images, and headphones to hear soundsthat allow the operator to better interact with guests standing near andtalking to the system. The operator may also be positioned away from thewalking mechanism, in a remote location, with remote controlinstrumentation. A wooden decorative frame covers the entire cart, togive the illusion that it is simply a traditional cart.

[0041] The cart and the walking machine are connected by a rigid yoke(308) via three unpowered joints. This yoke is connected to the cart viaa hinge (309), and to the walking machine via a two-axis “universal”joint, (304). The hinge at the cart allows the walking machine to varyits height by extending its legs. The universal joint allows the walkingmachine to pitch its body forwards or backwards relative to the yoke,and to roll its body side to side. The combination of these three jointsallows the walking machine to have a wide range of motion required forrealistic looking walking and motion, while preventing the system fromfalling side-to-side, forwards, or backwards, even if all motors were tocompletely shut down and power off. The yoke attachment alsoincorporates a spring counterbalance mechanism (322). This mechanismapplies a rotational torque to the yoke about hinge (309) that partiallysupports the weight of the walking machine.

[0042] Walking Algorithm

[0043] A system and method of controlling the supported walking systemand causing the figure to walk is also disclosed.

[0044] In an exemplary embodiment, the supported walking system isdriven by a human operator using a common two-axis joystick. Thesupported walking system can be viewed as a single vehicle with twodriven wheels and two legs, each of which has several independentactuators.

[0045] The problem then, is how to generate a plurality of independentmotion profiles from two joystick inputs. For example, it is a goal tocreate motions that make the system walk in a straight line, whileturning, and at varying speeds.

[0046] The operator uses the joystick input to drive the cart, and themotions of the walking figure's legs are calculated by a computeralgorithm in response to the cart motions. A brief description of thisalgorithm follows.

[0047] In an exemplary embodiment, a standard joystick that can be movedalong two axes, either left/right, or forward/backward is used. Thejoystick directly controls the velocities of the two cart wheels. Forexample, if the joystick is moved to the left only, the left cart wheelwill rotate backwards and the right wheel will rotate forwards. The cartwill then rotate about a vertical axis directly between the two wheels,counterclockwise as viewed from above. If the joystick is moved to theright only, the wheels move in the opposite directions so that the cartwill rotate clockwise when viewed from above. The velocity of the wheelsis controlled by the distance the joystick is moved from its centerposition.

[0048] If the joystick is moved forward only, both wheels will rotateforward at the same velocity, and the cart will move forward. If thejoystick is moved backward only, both wheels will rotate backward at thesame velocity, and the cart will move backward.

[0049] If the joystick is moved at an angle, for example forward and tothe right, the above motions are combined linearly so that the cart willmove forward and turn to the right at the same time. Again the speed ofthe motion is controlled by how far the joystick is moved away from itscenter position.

[0050] The cart and the walking figure are attached by a rigid yoke withthree freely-rotating joints, and at all times, one or both of the feetof the walking figure rest on the ground. Thus, the cart, the yoke, thewalking figure, and the ground on which the system rests form one closedkinematic chain. (A closed kinematic chain is any series of rigid linksand joints which closes upon itself to form a loop).

[0051] As the cart moves (as driven by the operator), the walking figuremust move its legs relative to it's body in order to maintain theintegrity of the kinematic chain. If the legs do not move appropriately,some portion of the kinematic chain will break, typically by feetslipping or losing contact with the ground. For example, if the cartmoves forward, the feet must move backward relative to the body, withoutrotating relative to the ground in order that remain planted on theground.

[0052] Sensors are incorporated on every moving joint in the cart, yoke,legs and body of the supported walking system. Because the dimensions ofthe system are known, the appropriate leg motions necessary to maintainthe integrity of the kinematic chain can therefore be calculated. Thisis done using standard robotics techniques.

[0053] It should be noted that by using these techniques, the body ofthe walking figure can be moved even while the cart is stationary. Inparticular, corresponding to the un-actuated joints of the yoke, bodycan be tipped forward, as if bending forward to eat from the ground. Thebody can also be rolled about a longitudinal axis, or the body raised upor down to stand the walking figure higher or lower. To command suchmotions of the body, appropriate motions of the legs which both move thebody and which maintain the integrity of the closed kinematic chainformed by the cart, yoke, walking figure and ground are calculated.

[0054] Because the legs of the walking figure have a limited range ofmotion, at some point the walking figure must take steps in order toaccommodate the movement of the cart. To generate these steps, acomputerized walking algorithm is used. A reference line is firstchosen. In an exemplary embodiment, the reference line is a verticalline that passes through the pivots which attach the yoke to the figure.The walking figure uses this reference line and moves relative to thisline. This line passes vertically through the center of the walkingfigure body.

[0055] As an example, consider a forward step. If the cart is movedforwards, the body of the walking figure will also move forward and thefeet will remain stationary on the ground, but will move backwardrelative to the reference line. When either foot moves behind thereference line, the algorithm commands the most rearward foot to move toa specified distance in front of the reference line. This distance is afunction of the cart velocity. Larger cart velocities will thereforegenerate larger steps. The foot which remains on the ground cannot stepuntil the other foot has safely planted on the ground, at which point ifit is behind the reference line, it will step forward. The trajectory ofthe leg while in the air is partially pre-determined. The height of thestep is pre-determined, while the step length and step time arefunctions of the cart velocity when the step is commanded. The exacttrajectory of the step is calculated as a function of these parameters.

[0056] At the conclusion of a step, when the foot comes in contact withthe ground, the vertical motion of the foot is stopped when a presetfoot/ground force threshold is exceeded. This allows the figure to walkon uneven surfaces by stopping the foot's vertical motion when it meetsthe ground instead of at a prescribed vertical position. The forceapplied is sensed indirectly by reading the current commanded toactuators in the legs. Since current applied to these motors isproportional to motor torque, an estimate of the force applied to theground can be made.

[0057] If the cart were, for example, turning left while moving forward,then the foot would be placed both forward and to the left of thereference line, again as a function of the cart velocity.

[0058] In this way, steps can be made in any combination offorward/backward and left/right in order to steer the cart and walkingfigure. The steps so generated result in walking motions which give theillusion that the walking figure is in fact pulling the cart.

[0059] In another embodiment, a scripting language can be used tocoordinate the movements of the walking figure (100). The scriptinglanguage can be a computer language that allows the user to provide aset of commands to the walking figure (100). In one embodiment, thescripting language provides for a combination of puppetry and fixedshows. Puppetry refers to a user's ability to provide interactivecommands to puppet. In addition, a fixed show is a predeterminedsequence of movements that a robotic figure can be programmed to performwithout interaction from the user. The scripting language allows Luckyto simultaneously respond to puppeting instructions from a user's inputand to perform a fixed show. For example, the walking figure (100) canbe preprogrammed to sneeze at certain time intervals. At the same timethe user can provide interactive instructions for the movement of thewalking figure (100).

[0060] One potential application of the scripting language is for usewith robotics on an assembly line. Many products are manufactured withrobots that perform predetermined movements to accomplish a task on theassembly line. However, part of the assembly process may require somehuman interaction that cannot be automated. A user may want theflexibility to perform quality control on the product at the same timethat the robot is assembling it. For instance, as the left arm of therobot performs a predetermined assembling routine on a product, theright arm can at the same time receive instructions from a human user toperform some quality control tests.

[0061] In addition, the scripting language can smooth out thetrajectories of the movements of the walking figure (100). The scriptinglanguage provides robots with the ability to make smoother movementsthan can ordinarily be provided for. Traditional robots have awkwardmovements and sometimes even respond with inaccurate movements whenreceiving an unfamiliar command. The scripting language solves thisproblem by providing a trajectory even in the case that a command isunfamiliar. In one embodiment, the scripting language is applied insettings where the precise movements of a robot are critical forproductivity and safety. For instance, in a hazardous waste setting, aninaccurate command by a user to a robot can result in harmful spillageof waste. If the robot was instructed to move in a relatively smoothtrajectory, there would be less risk of accidental spillage. The use ofthe scripting language to produce smoother movements in the roboticsfield can be applied to a wide variety of fields where precision is ofthe utmost importance.

[0062] The scripting language can also provide for real timeoptimization. Previous scripting languages allocated memory and othercomputer resources as needed. These allocations can block the computerfor arbitrary lengths of time. If memory is not allocated properly, therobot stops functioning. The scripting language here has a memoryallocation method that prevents the computer from being blocked. Realtime performance means that the task must be performed in a specifiedperiod of time. In one embodiment, the real time optimization techniqeis used with robots to ensure that robots do not unnecessarily stopfunctioning for a period of time. For instance, if a robot that iscarrying hazardous waste even momentarily stops functioning, spillagemay result.

[0063] Further, the scripting language can include an improvedtransformation technique. When a user provides a command to a robotinstructing the robot to move in a certain way, a mathematicaltransformation between the user's instruction and the actual jointmovements necessary to carry out the user's instruction must take place.The scripting language provides an interface that allows users tointuitively instruct the robot to move in a certain direction. Further,the interface simplifies the complexity of combining motions such asvertical and horizontal motions. For example, the robot may respond toan instruction of “walk straight” as opposed to “lift left legvertically y feet, move left leg horizontally x feet”.

[0064] One of ordinary skill in the art will recognize that thetechniques that are used by the scripting language are not limited toscripting languages as opposed to other computer language. Thesetechniques can also be employed in different types of computerlanguages. Further, the scripting language is not limited to aparticular type of graphical user interface (“GUI”). Any number of GUIscan be used in conjunction with the scripting language. Any method,hardware, software, or circuitry needed to provide computerizedinstructions to the walking figure (100) can be utilized. One ofordinary skill in the art will recognize that any controller or memoryneeded to implement the scripting language can be utilized. Further, oneof ordinary skill in the art will recognize that the scripting languagecan be stored within the walking figure (100) itself or at a remotelocation from which instructions are sent to the walking figure (100).As discussed above, the scripting language can be used in otherapplications besides the supported walking system.

[0065] Skeletal Support Structure & Skin

[0066] Further completing the overall image of a realistic lookingrobotic or animatronic character is the skin and skeletal structure.

[0067] Traditionally, animatronic figures have used hydraulic actuators,because of their very high power to size ratio. However, hydraulicsystems have several disadvantages. Hydraulic oil tends to leak fromthese systems, damaging delicate skins and other outside coverings. Theyalso require pressurization at pressures between 500 and 6000 psi. Thesehigh pressure systems must be kept away from people because ruptures inpressurized hydraulic lines can cause dangerous fluid jets. Hydraulicsystems also support force on columns of hydraulic oil, which arenecessarily compliant. This compliance limits the bandwidth of responseof hydraulic systems. Finally, hydraulic systems require a significantinfrastructure of pumps, oil reservoirs, manifolds, valves andaccumulators.

[0068] It is, therefore, advantageous to use electric motors forrobotics and animatronic figures. Electric motors, however, typicallyhave a lower power to size ratio than do hydraulic actuators. Therefore,the weight of an electrically driven robotic or animatronic systembecomes a critical issue and must be kept as low as possible.

[0069] There are several other problems which make the development of anunderstructure to support animatronic skins difficult. Real creatureshave very large ranges of motion of their joints. This means to createrealistic motions, skins and the structures supporting them mustaccommodate significant stretch and compression. Real creatures have alarge number of degrees-of-freedom, especially in features such as aneck or a tail. It is costly to have as many joints in an animatronicfigure as would exist in the real creature. So it is advantageous if theskin and supporting structure can enhance the look of the figure bymaking it appear as though there are more joints than are in theunderlying mechanism. Real creatures are biological and therefore havecomplex outer shapes. A skin and supporting structure must maintainthese shapes while looking realistic despite considerable movement,stretch and compression.

[0070] Therefore, it is advantageous for the skin and its supportingstructure to occupy as little space as possible. Because the roboticmechanism strength is related to its size, if the skin and itssupporting structure occupy a great deal of space, very little is leftover for the mechanism, making it difficult to make sufficiently strongand rigid. Finally, the skin and its supporting structure should be easyto manufacture.

[0071] Therefore, a mechanism which will support animatronic skinsthrough large ranges of motion with significant flexing and compressionis needed. It is further desirable for the skin support mechanism tohide the underlying robotic structure. It is further desirable for theskin support structure to accommodate complex shapes. It is furtherdesirable for the skin support structure to be extremely lightweight. Itis further desirable for the skin support structure to occupy a smallamount of space between the internal robotic mechanism and the skinitself. Finally, it is desirable that the skin support structure besimple to manufacture.

[0072] A skeletal support structure for a mechanical or robotic figureis therefore also disclosed. The skeletal support structure is a systemthat supports skins for animatronic figures which allows for a largerange of motion, is compact in size, is lightweight, may be made incomplex shapes, and is easy to manufacture. In an exemplary embodiment,a painted foam-latex skin covers the skeletal support structure.

[0073]FIGS. 4-8 illustrate exemplary embodiments of a skeletal supportstructure and overlying skin. FIG. 4 is a photograph which illustratesthe realistic looking result achieved by the skin and skeletal structurein one embodiment.

[0074] In the embodiment shown in FIG. 4, the walking FIG. 100 is in theform of a dinosaur pulling a cart 110. The dinosaur is attached to thecart using a yoke 120. A painted foam latex skin 130 covers the skeletalsupport structure of the walking FIG. 100. The skin 130 is fabricated bypouring foam-latex into molds that represent the outside shape of thedesired character. In the case of a dinosaur, the neck and tail portionof the dinosaur should move flexibly in many directions. In order forthe dinosaur's movements to look real, a unique skeletal structure isused for the neck and tail portions. The effect is a realistic-lookingskin that floats over the mechanical skeleton giving the appearance of aliving animal.

[0075] The skeletal support structure comprises a plurality of ringsthat are attached to each other and at various points to the figure. Therings are attached to each other using flexible attachments, and to thefigure at various locations using rigid or fixed attachments.

[0076] In one embodiment, the skin is supported by a skeletal supportsystem comprising fiberglass, plastic and aluminum rings that areattached to each other and to the walking machine skeleton via acombination of rigid attachments and flexible rubber attachments.

[0077]FIG. 5 is an illustration of the skeletal support structure asfound underneath the system illustrated in FIG. 4. Note that the headand tail portions are covered with a structure made of a plurality ofrings. FIG. 6 is a photograph showing an enlarged view of the skeletalsupport structure in the tail. FIG. 7 is a illustration of the ringsthemselves. The rings are attached to each other by flexible elements.In our current embodiment, we have used pieces of latex surgical tubing.They are oriented to allow simple attachment to the rings using plastictie wraps. This orientation also allows the rings to compress and expandupon one another with very little force. They may also rotate relativeto each other, to allow a tail or neck to twist about it's longitudinalaxis. The tube orientation, however, tends to prevent the rings fromshifting or shearing relative to each other.

[0078] In one embodiment, the rings are fabricated by first making acomputer scan of the tooling used to mold the flexible skin. Then, in aCAD program, the rings are designed by “slicing” the computer scannedsurface. The rings are, for example, CNC milled from panels made bylaminating carbon fiber sheeting to a nomex honeycomb core. These typesof panels are commonly used in the aircraft industry as they are verystiff for their weight. By assembling the structure from rings made inthis way, the complex skin shape is ensured to fit the structure whichsupports it. Furthermore, due to the thinness of the rings andflexibility of the flexible elastic tubing used to join them, thestructure can accommodate a large degree of flexing and compression, asrequired when the underlying joints move through a large range ofmotion.

[0079] To mount the ring structure to the underlying tail mechanism, onering per link of the structure is mounted to each link of the tailmechanism. In this way, the ring structure floats over the tailmechanism. In one embodiment, these rings are made from aluminum forstrength.

[0080]FIG. 8 shows a schematic representation of this system mounted toa tail with three joints and four mechanical links. Rings (801), (802),(803) and (804) are mounted to tail links (805), (806), (807) and (808)respectively. The remaining rings, examples of which are labeled (809),are mounted to each other and to the fixed rings, but otherwise allowedto float over the tail mechanism. To enable the skin to slide smoothlyover the ring structure, a lycra sock is mounted over the rings andunderneath the skin. The rings, covered with lycra, produce a relativelysmooth, continuous surface to support the tail skin, hiding theunderlying tail mechanism and giving the illusion that there are manymore than three actuated joints.

[0081] Compact Robotic Joint

[0082] Further in accordance with the supported walking system as hasbeen described so far, a novel robotic joint is disclosed that iscompact in size, incorporates two degrees-of-freedom at right angles toeach other, and may be powered using electric actuators.

[0083] As mentioned earlier, it is advantageous to use electric motorsfor robotics and animatronic figures. However, electric motors operatemost efficiently at high speeds. Since most robotic and animatronicsystems have desired joint speeds many times less than the optimaloperating speed of an electric motor, reduction gearing is required. Itis also the case that the form factor of electric motors does not lenditself to simple packaging solutions to fit into the envelope requiredby many animatronic figures.

[0084] Specifically, it is often advantageous to turn the output of anelectric motor by 90 degrees to optimally package it in a slenderanimatronic arm, neck or tail. Furthermore, it is advantageous toprovide joints whose axis intersect or very nearly intersect, and are atright angles to each other. This is because the joints of animal'sbacks, necks, and tails consist of vertebrae which bend in at least twodirections and it is necessary to represent these joints in ananimatronic figure.

[0085] A compact robotic joint is therefore provided. The compactrobotic joint has two rotational degrees-of-freedom where the axes ofrotation intersect or nearly intersect and are at right angles with oneanother. The compact robotic joint may be powered using electric motors.The compact robotic joint further accommodates a significant gearreduction.

[0086]FIGS. 9a, 9 b, 9 c and 10 illustrate an exemplary embodiment ofthe compact robotic joint.

[0087] The joint consists of three links which may be actuated to moverelative to each other. A first link (Link 1) moves relative to a secondlink (Link 2) along axis A. A third link (Link 3) moves relative to thesecond link along axis B. Note that in this embodiment, first and thirdlinks and are identical. While this need not be the case, making theselinks identical reduces manufacturing and inventory costs and is one ofthe features of this joint.

[0088] The first link (Link 1) is comprised of an electric motor (902)to the rear of which is attached a rotary encoder (901) to measure motorposition. A planetary gearbox (903) is attached to the front of themotor. This assembly is attached to clevis (908) via an adapter plate(904). A coupler shaft (905) is rigidly attached to the shaft of thegearbox and a right-angle bevel gear pinion (907) is rigidly fixed tothe coupling using a dowel pin (not shown). The coupler shaft isrotatably mounted into the clevis using a combination of rotary andthrust bushings (906).

[0089] The second link (Link 2) is comprised of a main block (914), towhich is mounted bevel gear sectors (911) and (918) and motion stops(909) and (019). Flanged bushings (910), (913), (915), and (917) arealso pressed into the first link.

[0090] The first link is rotatably mounted to the second link using ashaft (916). The third link is similarly rotatably mounted to the secondlink using a shaft (912).

[0091] Power is transmitted from the first link to the second linkthrough pinion (907) to gear (911). By controlling the orientation ofmotor (902), the orientation of the second link is controlled relativeto the first link. Similarly, power is transmitted from the third linkto the second link through pinion (921) to gear (918). By controllingthe position of motor (926), the orientation of the third link iscontrolled relative to the second link.

[0092] A controllable, articulated structure may be created by linking aseries of these joints together, see FIG. 10.

[0093] While the system has been described in detail and with referenceto specific embodiments, it will be apparent to those skilled in the artthat various changes and modifications can be made therein withoutdeparting from the spirit and scope thereof. Thus, it is intended thatthe claimed invention not be limited to any specific description above,and that it includes modifications and variations provided they comewithin the scope of the appended claims and their equivalents.

[0094] Other embodiments and implementations may be utilized andstructural and functional changes may be made without departing from therespective scope of the claimed invention. The attached description ofexemplary and anticipated embodiments have been presented for thepurposes of illustration and description. They are not intended to beexhaustive or to limit the invention to the precise forms disclosed.

[0095] Many modifications and variations are possible in light of theteachings herein. Many other forms of the invention exist, eachdiffering from the others in matters of detail only. The invention is tobe determined by the following claims.

We claim:
 1. A supported walking system comprising: a walking figurehaving a body and at least two limbs attached to the body; a wheeledportion comprising one or more wheels, said wheeled portion at leastpartially supporting the walking figure; and a control system, whereinthe control system determines a first movement of the one or morewheels, a second movement of the first limb, and a third movement ofsecond limb, wherein the control system sends a first instruction of thefirst movement to a first set of circuitry attached to the wheel,wherein the controller sends a second instruction of a second movementto a second set of circuitry attached to the first limb, wherein thecontroller sends a third instruction of a third movement to a third setof circuitry attached to the second limb.
 2. The supported walkingsystem of claim 1 wherein the control system is housed within thewheeled portion.
 3. The supported walking system of claim 1 wherein thecontrol system further comprises an input device.
 4. The supportedwalking system of claim 3 wherein the input device is a joystick.
 5. Theanimatronic walking system of claim 1 wherein the first movement of theone or more wheels effectuates a change in position of the supportedwalking system.
 6. The animatronic walking system of claim 1 wherein thefirst movement of the one or more wheels causes the supported walkingsystem to move.
 7. The animatronic walking system of claim 3 wherein thecontroller receives a command from an input device and simultaneouslydetermines the first, second, and third movements.
 8. The animatronicwalking system of claim 3 wherein the controller receives a command froman input device to determines the first command movement of the wheel,and later determines second, and third movements.
 9. The supportedwalking system of claim 1 wherein at least one wheel is a drive wheel.10. The supported walking system of claim 1 wherein at least one wheelis steerable.
 11. The supported walking system of claim 1 wherein atleast one wheel is powered.
 12. The supported walking system of claim 1wherein the walking figure and the wheel module are connected by a yoke,said yoke having hinges allowing movement of the limbs relative to thewheel module.
 13. The supported walking system of claim 1 wherein thefirst movement of the first limb, the second movement of the secondlimb, and the third movement of the wheel are coordinated.
 14. Thesupported walking system of claim 1 wherein the walking figure is adinosaur and the wheeled portion is a cart.
 15. The supported walkingsystem of claim 10 wherein an operator drives the cart, which in turncauses the walking figure's legs to move.
 16. An animatronic walkingfigure comprising: a body; a first limb and a second limb operablyattached to the body; at least one wheel, the wheel at least partiallysupporting the walking figure; and a controller, wherein the controllerdetermines a first movement of the at least one wheels, a secondmovement of the first limb, and a third movement of second limb, whereinthe control system sends a first instruction of the first movement to afirst set of circuitry attached to the wheel, wherein the controllersends a second instruction of a second movement to a second set ofcircuitry attached to the first limb, wherein the controller sends athird instruction of a third movement to a third set of circuitryattached to the second limb.
 17. The animatronic walking figure of claim16 wherein the first movement of the one or more wheels effectuates achange in position of the supported walking system.
 18. The animatronicwalking figure of claim 16 wherein the first movement of the one or morewheels causes the supported walking system to move.
 19. The animatronicwalking figure of claim 16 further comprising an input device.
 20. Theanimatronic walking figure of claim 19 wherein the input device is ajoystick.
 21. The animatronic walking figure of claim 19 wherein thecontroller receives a command from an input device and simultaneouslydetermines the first, second, and third movements.
 22. The animatronicwalking figure of claim 19 wherein the controller receives a commandfrom an input device to determines the first command movement of thewheel, and later determines second, and third movements.
 23. Theanimatronic walking figure of claim 16 wherein the at least one wheel isa drive wheel.
 24. The animatronic walking figure of claim 16 whereinthe at least one wheel is steerable.
 25. The animatronic walking figureof claim 16 wherein the at least one wheel is powered.
 26. Theanimatronic walking figure of claim 16 wherein the movements of thefirst and second limb and the wheel module are coordinated.
 27. Theanimatronic walking figure of claim 16 wherein the walking figure is adinosaur.
 28. The animatronic walking figure of claim 16 wherein anoperator drives the at least one wheel, which in turn causes the walkingfigure's legs to move.
 29. A method of controlling the walking movementof a two legged walking figure comprising: determining a reference line;receiving a command from an input device, the command representing avelocity to move the walking figure; translating the velocity into adistance to move; moving a first leg a specified distance with respectto the reference line; and moving the second leg once the first leg isplanted on the ground.
 30. The method of claim 29 wherein the joystickdirectly controls the velocity of the wheels.
 31. The method of claim 29wherein the velocity of the wheels is controlled by the distance thejoystick is moved from its center position.
 32. The method of claim 29wherein a movement of the joystick to the forward or reverse controlsthe wheels to move forward or reverse.
 33. The method of claim 29wherein a movement of the joystick to the left or right controlsrotation of the two wheels.
 34. The method of claim 29 wherein when thejoystick is moved to the left, directly controls the left cart wheelrotates backwards, and the right wheel rotates forwards.
 35. The methodof claim 29 wherein movement of the joystick to the left results in acounter-clockwise rotation of the two wheels
 36. The method of claim 29wherein movement of the joystick to the right results in a clockwiserotation of the two wheels.
 37. The method of claim 29 wherein when thejoystick is moved at an angle, motions are combined linearly so that thecart moves forward or backward and in a rotational.
 38. The method ofclaim 29 wherein the leg comprises a sensor for determining the forcewhen contacting the ground.
 39. A skeletal support system for ananimatronic figure comprising: a plurality of rings, each ring shapedaccording to a cross section of the figure and a plurality of flexibleconnectors, the plurality of rings connected to each other with at leastone flexible connector in between, such that the overall structure isfree to move and bend, but provides a structure for skin or othercovering.
 40. The skeletal support system of claim 39 wherein a skin isstretched over the skeletal support system.
 41. The skeletal supportsystem of claim 40 wherein the skin is made of foam latex.
 42. Theskeletal support system of claim 39 wherein the rings are made ofaluminum.
 43. The skeletal support system of claim 39 wherein the ringsare made of cardboard honeycomb.
 44. The skeletal support system ofclaim 39 wherein the flexible connector is made of rubber.
 45. A methodof providing a flexible and realistic skeletal support structure for amechanical figure comprising: creating a model of the figure; scanningthe model of the figure; dividing the figure into a plurality of crosssections; casting rings for selected cross sections; and attaching therings to each other using a flexible connector to create a skeletalsupport structure.
 46. The method of claim 45 wherein a skin isstretched over the skeletal support system.
 47. The method of claim 46wherein the skin is made of foam latex.
 48. The method of claim 45wherein the rings are made of aluminum.
 49. The method of claim 45wherein the rings are made of cardboard honeycomb.
 50. The method ofclaim 45 wherein the flexible connector is made of rubber.
 51. A compactrobotic joint having two rotational degrees of freedom, comprising: afirst link rotatably mounted to and moving relative to a second linkalong a first axis; and a third link rotatably mounted the second linkand moving relative to the second link along a second axis, the firstlink and third link each comprising an electric motor and a gearbox.